tesseract_common::AllowedCollisionMatrix Class Reference

#include <allowed_collision_matrix.h>

Collaboration diagram for tesseract_common::AllowedCollisionMatrix:

Public Types
using	Ptr = std::shared_ptr< AllowedCollisionMatrix >
using	ConstPtr = std::shared_ptr< const AllowedCollisionMatrix >

Public Member Functions
	AllowedCollisionMatrix ()=default
virtual	~AllowedCollisionMatrix ()=default
	AllowedCollisionMatrix (const AllowedCollisionMatrix &)=default
AllowedCollisionMatrix &	operator= (const AllowedCollisionMatrix &)=default
	AllowedCollisionMatrix (AllowedCollisionMatrix &&)=default
AllowedCollisionMatrix &	operator= (AllowedCollisionMatrix &&)=default
virtual void	addAllowedCollision (const std::string &link_name1, const std::string &link_name2, const std::string &reason)
	Disable collision between two collision objects. More...
const AllowedCollisionEntries &	getAllAllowedCollisions () const
	Get all of the entries in the allowed collision matrix. More...
virtual void	removeAllowedCollision (const std::string &link_name1, const std::string &link_name2)
	Remove disabled collision pair from allowed collision matrix. More...
virtual void	removeAllowedCollision (const std::string &link_name)
	Remove disabled collision for any pair with link_name from allowed collision matrix. More...
virtual bool	isCollisionAllowed (const std::string &link_name1, const std::string &link_name2) const
	This checks if two links are allowed to be in collision. More...
void	clearAllowedCollisions ()
	Clears the list of allowed collisions, so that no collision will be allowed. More...
void	insertAllowedCollisionMatrix (const AllowedCollisionMatrix &acm)
	Inserts an allowable collision matrix ignoring duplicate pairs. More...
bool	operator== (const AllowedCollisionMatrix &rhs) const
bool	operator!= (const AllowedCollisionMatrix &rhs) const

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
AllowedCollisionEntries	lookup_table_

Friends
class	boost::serialization::access
std::ostream &	operator<< (std::ostream &os, const AllowedCollisionMatrix &acm)

Member Typedef Documentation

ConstPtr

using tesseract_common::AllowedCollisionMatrix::ConstPtr = std::shared_ptr<const AllowedCollisionMatrix>

Ptr

using tesseract_common::AllowedCollisionMatrix::Ptr = std::shared_ptr<AllowedCollisionMatrix>

Constructor & Destructor Documentation

AllowedCollisionMatrix() [1/3]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( )

default

~AllowedCollisionMatrix()

virtual tesseract_common::AllowedCollisionMatrix::~AllowedCollisionMatrix ( )

virtualdefault

AllowedCollisionMatrix() [2/3]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( const AllowedCollisionMatrix &  )

default

AllowedCollisionMatrix() [3/3]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( AllowedCollisionMatrix &&  )

default

Member Function Documentation

addAllowedCollision()

virtual void tesseract_common::AllowedCollisionMatrix::addAllowedCollision ( const std::string &  link_name1, const std::string &  link_name2, const std::string &  reason  )

inlinevirtual

Disable collision between two collision objects.

Parameters

obj1	Collision object name
obj2	Collision object name
reason	The reason for disabling collison

clearAllowedCollisions()

void tesseract_common::AllowedCollisionMatrix::clearAllowedCollisions ( )

inline

Clears the list of allowed collisions, so that no collision will be allowed.

getAllAllowedCollisions()

const AllowedCollisionEntries & tesseract_common::AllowedCollisionMatrix::getAllAllowedCollisions ( ) const

inline

Get all of the entries in the allowed collision matrix.

Returns

AllowedCollisionEntries an unordered map containing all allowed collision entries. The keys of the unordered map are a std::pair of the link names in the allowed collision pair.

insertAllowedCollisionMatrix()

void tesseract_common::AllowedCollisionMatrix::insertAllowedCollisionMatrix ( const AllowedCollisionMatrix &  acm )

inline

Inserts an allowable collision matrix ignoring duplicate pairs.

Parameters

acm	ACM to be inserted

isCollisionAllowed()

virtual bool tesseract_common::AllowedCollisionMatrix::isCollisionAllowed ( const std::string &  link_name1, const std::string &  link_name2  ) const

inlinevirtual

This checks if two links are allowed to be in collision.

Parameters

link_name1	First link name
link_name2	Second link anme

Returns

True if allowed to be in collision, otherwise false

operator!=()

bool tesseract_common::AllowedCollisionMatrix::operator!=

(

const AllowedCollisionMatrix &

rhs

)

const

operator=() [1/2]

AllowedCollisionMatrix & tesseract_common::AllowedCollisionMatrix::operator= ( AllowedCollisionMatrix &&  )

default

operator=() [2/2]

AllowedCollisionMatrix & tesseract_common::AllowedCollisionMatrix::operator= ( const AllowedCollisionMatrix &  )

default

operator==()

bool tesseract_common::AllowedCollisionMatrix::operator==

(

const AllowedCollisionMatrix &

rhs

)

const

removeAllowedCollision() [1/2]

virtual void tesseract_common::AllowedCollisionMatrix::removeAllowedCollision ( const std::string &  link_name )

inlinevirtual

Remove disabled collision for any pair with link_name from allowed collision matrix.

Parameters

link_name

Collision object name

removeAllowedCollision() [2/2]

virtual void tesseract_common::AllowedCollisionMatrix::removeAllowedCollision ( const std::string &  link_name1, const std::string &  link_name2  )

inlinevirtual

Remove disabled collision pair from allowed collision matrix.

Parameters

obj1	Collision object name
obj2	Collision object name

serialize()

template<class Archive >

void tesseract_common::AllowedCollisionMatrix::serialize ( Archive &  ar, const unsigned int  version  )

private

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

operator<<

std::ostream & operator<< ( std::ostream &  os, const AllowedCollisionMatrix &  acm  )

friend

Member Data Documentation

lookup_table_

AllowedCollisionEntries tesseract_common::AllowedCollisionMatrix::lookup_table_

private

---

The documentation for this class was generated from the following files:

• tesseract_common/include/tesseract_common/allowed_collision_matrix.h
• tesseract_common/src/allowed_collision_matrix.cpp